CN108860310B - AGV differential driving mechanism with transverse moving function - Google Patents
AGV differential driving mechanism with transverse moving function Download PDFInfo
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- CN108860310B CN108860310B CN201810015237.5A CN201810015237A CN108860310B CN 108860310 B CN108860310 B CN 108860310B CN 201810015237 A CN201810015237 A CN 201810015237A CN 108860310 B CN108860310 B CN 108860310B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/38—Low or lowerable bed vehicles
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Retarders (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides an AGV differential driving mechanism with a transverse moving function, which comprises: the driving mechanism comprises a driving motor and a driving wheel, and the driving wheel is in transmission connection with the driving motor; the rotating disc is fixedly connected with the driving installation bottom plate through a connecting piece, a bolt is arranged on the rotating disc and connected with a bolt telescopic mechanism, and the bolt telescopic mechanism drives the bolt to stretch; the installation top plate is located above the driving installation bottom plate, the driving installation bottom plate can rotate relative to the installation top plate, a hollow fixed disc is arranged on the installation top plate, the rotating disc is sleeved in the fixed disc, a plurality of slots are formed in the inner circumferential surface of the fixed disc, the slots are opposite to the plug pins, and induction switches are arranged in the slots. The driving mechanism has the advantages of short length, small turning radius, low cost and the like.
Description
Technical Field
The utility model relates to a AGV transfer apparatus technical field, in particular to take AGV differential drive mechanism of sideslip function.
Background
In many production occasions, an Automated Guided Vehicle (AGV) is required to be able to realize traversing due to field space reasons or equipment placement characteristics. At present, conventional driving mechanisms capable of realizing the transverse moving function of the AGV generally have three forms, one form is that the transverse moving function is realized through two groups of differential driving wheels, and the driving mode has the defects that the AGV is very long and the turning radius is large; the second one is to realize the traversing function through the driving of two steering wheels, the driving mode is mostly used for the driving mode on a heavy-load AGV, the cost is high, the AGV has very long length and large turning radius; the third mode is a Mecanum wheel driving mode which is high in cost and large in electric energy waste, and a driving structure which is low in cost and small in load and can achieve the transverse moving function does not exist in the market so far.
Disclosure of Invention
In view of the above-described shortcomings of the prior art, it is an object of the present invention to provide a short, low-cost differential AGV drive mechanism with a lateral shifting function having a small turn radius.
To achieve the above and other related objects, the present invention provides an AGV differential drive mechanism with a traverse function, comprising: the driving device comprises a driving installation bottom plate, a driving mechanism and a driving mechanism, wherein the driving installation bottom plate is provided with a driving mechanism on the left side and a driving mechanism on the right side respectively, the driving mechanism comprises a driving motor and a driving wheel, and the driving wheel is in transmission connection with the driving motor; the rotating disc is fixedly connected with the driving installation bottom plate through a connecting piece, a bolt is arranged on the rotating disc and connected with a bolt telescopic mechanism, and the bolt telescopic mechanism drives the bolt to stretch and retract; the installation top plate is located above the driving installation bottom plate, the driving installation bottom plate can rotate relative to the installation top plate, a hollow fixed disc is arranged on the installation top plate, the rotating disc is sleeved in the fixed disc, a plurality of slots are formed in the inner circumferential surface of the fixed disc, the slots are opposite to the plug pins, and induction switches are arranged in the slots.
Preferably, a T-shaped groove is formed in the rotating disc, and the bolt is located in the T-shaped groove.
Preferably, a hollow rotating disc is further arranged between the driving installation bottom plate and the installation top plate.
Preferably, the bolt telescoping mechanism is a micro sliding table mechanism, an electric push rod mechanism or an electromagnet pushing mechanism.
Preferably, actuating mechanism still includes a gyration mounting panel, the drive wheel is installed on the gyration mounting panel, the one end of gyration mounting panel with drive mounting plate is articulated, the other end of the one end of gyration mounting panel pass through the extension spring with drive mounting plate connects.
Preferably, the rotary mounting plate is hinged to the mounting bottom plate through a rotary seat, and the guide seat on the drive mounting bottom plate is connected through the tension spring.
Preferably, the guide seat is provided with a guide groove, and the rotary mounting plate is positioned in the guide groove.
Preferably, the driving motor is connected with the driving wheel through a speed reducer, and the driving motor and the speed reducer are connected with the rotary mounting plate.
Preferably, the slot is a V-shaped slot.
As mentioned above, the AGV differential driving mechanism with the transverse moving function has the following beneficial effects: the driving mechanism realizes in-situ rotation through the differential function of the differential driving wheel set, and has one less steering motor and one less encoder compared with a steering wheel structure, and the whole transverse moving driving mechanism has only two driving motors, so that the cost is reduced by 50 percent compared with a double-steering wheel driving mechanism and a double-differential driving mechanism, and compared with a Mecanum wheel driving mode, the cost is reduced by half, the consumption of electric energy is also saved by 50 percent, the running period is longer, and the running cost is lower; meanwhile, the driving structure of the independent suspension damping structure using the tension spring can ensure that the left and right driving wheels of the automatic transfer robot keep enough adhesive force to the ground and avoid derailment of the automatic transfer robot when the automatic transfer robot runs on uneven ground, and meanwhile, the guide groove function is designed on the guide seat, so that the left and right shaking of the driving wheels can be effectively realized, and the accurate operation and stopping precision are realized.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Element number description: 1. a drive mounting base plate; 2. a left drive mechanism; 21. a rotary base; 22. a rotating mounting plate; 23. a guide seat; 24. a tension spring; 25. a drive motor; 26. a speed reducer; 27. a drive wheel; 3. a right drive mechanism; 4. a hollow rotating disc; 5. installing a top plate; 6. fixing the disc; 7. a rotary disk; 8. a bolt; 9. a bolt telescoping mechanism; 10. an inductive switch; 11. a connecting member.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
As shown in fig. 1 and 2, the present invention provides an AGV differential driving mechanism with a traversing function, which comprises a driving installation bottom plate 1, wherein a left driving mechanism 2 and a right driving mechanism 3 are respectively arranged on the left side and the right side of the driving installation bottom plate 1, and the deflection of the movement angle of the driving installation bottom plate 1 can be realized through the differential action of driving wheels on the left driving mechanism 2 and the right driving mechanism 3. Still be equipped with a connecting piece 11 on the drive mounting plate 1, be equipped with rolling disc 7 on the connecting piece 11, rolling disc 7 and connecting piece 11 fixed connection, connecting piece 11 and drive mounting plate 1 welding, consequently the rotation of drive mounting plate 1 can drive rolling disc 7 synchronous revolution. As a specific embodiment, the plug pin telescoping mechanism 9 can adopt a micro sliding table mechanism, an electric push rod mechanism, an electromagnet pushing mechanism or a mechanism similar to the micro sliding table mechanism, the electric push rod mechanism or the electromagnet pushing mechanism.
The mounting top plate 5 is further arranged above the driving mounting bottom plate 1, the mounting top plate 5 is used for being connected with a vehicle body, the driving mounting bottom plate 1 can rotate relative to the mounting top plate 5, in order to facilitate the fixed mounting of the mounting top plate 5, a hollow rotating disc 4 can be arranged between the driving mounting bottom plate 1 and the mounting top plate 5, the hollow rotating disc 4 can play a certain supporting role for the mounting top plate 5, and meanwhile, the rotation of the driving mounting bottom plate 1 relative to the mounting top plate 5 cannot be prevented. The mounting top plate 5 is provided with a hollow fixed disk 6, the rotating disk 7 is sleeved in the fixed disk 6, the inner circumferential surface of the fixed disk 6 is provided with a plurality of slots, the slots are opposite to the plug pins 8, and the slots are internally provided with induction switches 10. Thus, by inserting the plug 8 into the slot, the angle at which the mounting base plate 1 and the mounting top plate 5 are directly driven can be determined, and the position of the driving portion relative to the vehicle body can be determined, and the moving direction can be determined. In a preferred embodiment, the slot is a V-shaped slot.
When the AGV differential driving mechanism is at an initial position, the driving wheels are parallel to the vehicle body, and under the action of the driving wheels, the AGV transfer robot can freely advance and retreat and rotate in situ; when the bolt 8 leaves the V-shaped groove on the fixed disc 6 under the action of the bolt telescopic mechanism 9, the driving part connected with the driving wheel can freely rotate relative to the car body, the left and right driving motors can reversely rotate, the driving part rotates 90 degrees relative to the car body, so that the driving part is vertical to the car body, the carrying robot can transversely move, and the movement space can be effectively saved; the driving part is connected with the driving part of the belt driving wheel and the mounting top plate 5 in a bolt mode, and V-shaped grooves with different angles can be designed on the fixed disc 6, so that the transverse movement of the AGV moving robot can be realized, and the movement in different angle directions can also be realized.
As shown in fig. 3, the driving mechanism 2 includes a rotation mounting plate 22, and the driving motor 25, the speed reducer 26, and the driving wheel 27 are mounted on the rotation mounting plate 22. The driving motor 25 is connected with a driving wheel 27 through a speed reducer 26, one side of the rotary mounting plate 22 is provided with a rotary seat 21, and the rotary mounting plate 22 is hinged with the driving mounting base plate 1 through the rotary seat 21. The other side of gyration mounting panel 22 is equipped with guide holder 23, and guide holder 23 is fixed on drive mounting plate 1, and gyration mounting panel 22 is connected with guide holder 23 through extension spring 24. The guide base 23 is also provided with a longitudinal guide groove on which the front end of the swivel mounting plate 22 is located and is movable up and down. The rotary mounting plate 22 moves up and down in the guide groove of the guide seat 23, so that the driving wheel 27 is prevented from shaking left and right, the driving precision of the driving wheel 27 is ensured, the guide seat 23 is connected with the rotary mounting plate 22 through the tension spring 24, the driving wheel 27 is ensured to be always kept in contact with the ground, and the provision of driving force is ensured.
The driving wheel part adopts an independent suspension damping structure, and the acting force of the tension spring enables the driving wheel of the automatic transfer robot to keep enough adhesive force on the ground, so that derailment of the driving wheel on the uneven ground is avoided, and the adaptability to the ground is improved. Meanwhile, when the automatic carrying robot is installed, a certain gap is reserved in the middle of the left driving system and the right driving system to install the position sensor, so that the control strategy is simplified, and the control efficiency is improved. In order to prevent the driving wheel from shaking left and right to influence the running precision, the guide groove is designed on the guide seat, the driving wheel mounting plate is guaranteed to only rotate up and down in the guide groove and cannot shake left and right, and therefore the running and stopping precision of the AGV is guaranteed.
The driving mechanism realizes in-situ rotation through the differential function of the differential driving wheel set, and has one less steering motor and one less encoder compared with a steering wheel structure, and the whole transverse moving driving mechanism has only two driving motors, so that the cost is reduced by 50 percent compared with a double-steering wheel driving mechanism and a double-differential driving mechanism, and compared with a Mecanum wheel driving mode, the cost is reduced by half, the consumption of electric energy is also saved by 50 percent, the running period is longer, and the running cost is lower; meanwhile, the driving structure of the independent suspension damping structure using the tension spring can ensure that the left and right driving wheels of the automatic transfer robot keep enough adhesive force to the ground and avoid derailment of the automatic transfer robot when the automatic transfer robot runs on uneven ground, and meanwhile, the guide groove function is designed on the guide seat, so that the left and right shaking of the driving wheels can be effectively realized, and the accurate operation and stopping precision are realized. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. An AGV differential drive mechanism with a transverse moving function comprises:
the driving device comprises a driving installation bottom plate, a driving mechanism and a driving mechanism, wherein the driving installation bottom plate is provided with a driving mechanism on the left side and a driving mechanism on the right side respectively, the driving mechanism comprises a driving motor and a driving wheel, and the driving wheel is in transmission connection with the driving motor;
the rotating disc is fixedly connected with the driving installation bottom plate through a connecting piece, a bolt is arranged on the rotating disc and connected with a bolt telescopic mechanism, and the bolt telescopic mechanism drives the bolt to stretch and retract;
the installation top plate is located above the driving installation bottom plate, the driving installation bottom plate can rotate relative to the installation top plate, a hollow fixed disc is arranged on the installation top plate, the rotating disc is sleeved in the fixed disc, a plurality of slots are formed in the inner circumferential surface of the fixed disc, the slots are opposite to the plug pins, and induction switches are arranged in the slots.
2. An AGV differential drive mechanism with a traverse function as claimed in claim 1, wherein: and a T-shaped groove is formed in the rotating disc, and the bolt is positioned in the T-shaped groove.
3. An AGV differential drive mechanism with a traverse function as claimed in claim 1, wherein: and a hollow rotating disc is also arranged between the driving installation bottom plate and the installation top plate.
4. An AGV differential drive mechanism with a traverse function as claimed in claim 1, wherein: the bolt telescoping mechanism is a micro sliding table mechanism, an electric push rod mechanism or an electromagnet pushing mechanism.
5. An AGV differential drive mechanism with a traverse function as claimed in claim 1, wherein: the actuating mechanism still includes a gyration mounting panel, the drive wheel is installed on the gyration mounting panel, the one end of gyration mounting panel with the drive mounting plate is articulated, the other end of the one end of gyration mounting panel pass through the extension spring with the drive mounting plate is connected.
6. An AGV differential drive mechanism with a traverse function as in claim 5 wherein: the rotary mounting plate is hinged with the mounting bottom plate through a rotary seat, and the rotary mounting plate is connected with the guide seat on the driving mounting bottom plate through the tension spring.
7. An AGV differential drive mechanism with a traverse function as claimed in claim 6, wherein: the guide seat is provided with a guide groove, and the rotary mounting plate is positioned in the guide groove.
8. An AGV differential drive mechanism with a traverse function as claimed in claim 6, wherein: the driving motor is connected with the driving wheel through a speed reducer, and the driving motor and the speed reducer are connected with the rotary mounting plate.
9. An AGV differential drive mechanism with a traverse function as claimed in claim 1, wherein: the slot is a V-shaped slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810015237.5A CN108860310B (en) | 2018-01-08 | 2018-01-08 | AGV differential driving mechanism with transverse moving function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810015237.5A CN108860310B (en) | 2018-01-08 | 2018-01-08 | AGV differential driving mechanism with transverse moving function |
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| Publication Number | Publication Date |
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| CN108860310A CN108860310A (en) | 2018-11-23 |
| CN108860310B true CN108860310B (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810015237.5A Active CN108860310B (en) | 2018-01-08 | 2018-01-08 | AGV differential driving mechanism with transverse moving function |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562349A (en) * | 2019-08-12 | 2019-12-13 | 广东博智林机器人有限公司 | Transport vehicle |
| CN114644042B (en) * | 2022-03-29 | 2023-09-08 | 四川国软科技集团有限公司 | Universal movable AGV trolley |
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| JP2007283958A (en) * | 2006-04-19 | 2007-11-01 | Kaneda Kikai Seisakusho Ltd | Suspension device for automated guided vehicle |
| CN104149852A (en) * | 2014-08-08 | 2014-11-19 | 湖北机电院装备制造有限责任公司 | Automatic navigation vehicle and driving structure thereof |
| CN204674692U (en) * | 2015-06-12 | 2015-09-30 | 北京云迹科技有限公司 | Suspension sheave and wheeled robot |
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN205932211U (en) * | 2016-08-01 | 2017-02-08 | 江门市鸿强机器人技术有限公司 | Take universal wheel orientation system's AGV dolly |
| CN206598725U (en) * | 2017-02-28 | 2017-10-31 | 武汉慧能机器人科技有限公司 | Omnidirectional's differential driving wheel apparatus and AGV dollies |
-
2018
- 2018-01-08 CN CN201810015237.5A patent/CN108860310B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007283958A (en) * | 2006-04-19 | 2007-11-01 | Kaneda Kikai Seisakusho Ltd | Suspension device for automated guided vehicle |
| CN104149852A (en) * | 2014-08-08 | 2014-11-19 | 湖北机电院装备制造有限责任公司 | Automatic navigation vehicle and driving structure thereof |
| CN204674692U (en) * | 2015-06-12 | 2015-09-30 | 北京云迹科技有限公司 | Suspension sheave and wheeled robot |
| CN105240453A (en) * | 2015-10-19 | 2016-01-13 | 广州市远能物流自动化设备科技有限公司 | Differential driving assembly |
| CN105857116A (en) * | 2016-05-12 | 2016-08-17 | 吴昊 | Driving mechanism of automatic guiding type carrying device |
| CN205932211U (en) * | 2016-08-01 | 2017-02-08 | 江门市鸿强机器人技术有限公司 | Take universal wheel orientation system's AGV dolly |
| CN206598725U (en) * | 2017-02-28 | 2017-10-31 | 武汉慧能机器人科技有限公司 | Omnidirectional's differential driving wheel apparatus and AGV dollies |
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| CN108860310A (en) | 2018-11-23 |
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Effective date of registration: 20220322 Address after: 215613 Zhangjiagang jikejia intelligent technology research and Development Co., Ltd., No. 14, Fenghuang Avenue, Fenghuang Town, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee after: Zhangjiagang jikejia intelligent technology research and Development Co.,Ltd. Address before: 215000 floor 1, building B, Phoenix Science and technology entrepreneurship Park, Fenghuang Town, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee before: SUZHOU JI KE JIA INTELLIGENT TECHNOLOGY CO.,LTD. |
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